In wireless sensor networks, unmanned aerial vehicles (UAVs) can be employed to collect data from sensor nodes (SNs) efficiently. In this paper, we consider a dual-UAV enabled (long-distance) data collection system, where one UAV is dispatched to collect data from distributed SNs, while the other UAV is employed to relay data from the data-collection UAV to a fusion center (FC) that locates far from the SNs. To shorten the time duration for the FC to collect all data, we propose to minimize the completion time of the data collection task by jointly optimizing the transmit power and bandwidth of all SNs and the UAVs, as well as the three-dimensional trajectories of the two UAVs. Instead of assuming the simplified line-of-sight UAV-ground channel model as in most existing works, we model the channels between the UAVs and SNs as well as that between the UAVs and FC by applying the practically more accurate elevation-angle-dependent Rician fading channel model. The resulting optimization problem is non-convex and thus is difficult to solve in general. Nevertheless, we propose an algorithm to solve it efficiently by using the techniques of block coordinate descent, slack variable substitution, and successive convex approximation. Simulation results show that our proposed algorithm can achieve higher communication efficiency than other benchmark schemes and greatly reduce the task completion time for data collection.